Embedded and immersed methods have become a powerful alternative for the numerical simulation of problems involving moving and deforming boundaries, avoiding costly remeshing procedures and enabling robust coupling between fluid and solid domains [1]. However, their validation is often limited to canonical benchmarks or indirect comparisons with analytical or reference numerical solutions. In this work, we present an embedded finite-volume-based framework for fluid–structure interaction problems with moving rigid boundaries previously developed [1] and extended to freely moving bodies. The solid domain is represented implicitly within a fixed Eulerian mesh through volumetric penalization and local reconstruction of boundary conditions, allowing for accurate enforcement of kinematic constraints and force exchange without conforming meshes. To validate the proposed approach, a methodology based on image processing of experimental data is proposed. To this end,laboratory-scale experiments are conducted in which the motion of immersed rigid bodies is tracked using computer vision techniques. High-speed image acquisition combined with marker-based and contour-detection algorithms provides time-resolved measurements of position, velocity, and rotation. The results demonstrate good agreement between numerical and experimental trajectories, capturing both translational and rotational motions at moderate Reynolds numbers. [1] Zamora, E., Battaglia, L., Cruchaga, M. & Storti, M. Embedded finite volume technique for fluid/rigid-body interaction problems. Computers & Mathematics With Applications. 156 pp. 157-166 (2024)